#include "KalmanObstacleCorner.h"


KalmanObstacleCorner::KalmanObstacleCorner(obstacle_t* obstacle, int corner_index) :
	KalmanFilter(Vector2(obstacle->o_corner[corner_index][0],
		                 obstacle->o_corner[corner_index][1]))
{
	_obstacle = obstacle;
	_corner_index = corner_index;
}


KalmanObstacleCorner::~KalmanObstacleCorner(void)
{
}

Vector2 KalmanObstacleCorner::GetObservedPosition() {
	return Vector2(_obstacle->o_corner[_corner_index][0],
				   _obstacle->o_corner[_corner_index][1]);
}
